2014-09-29 01:20:22 +08:00
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#![feature(macro_rules)]
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extern crate "nalgebra" as na;
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2014-02-18 19:13:40 +08:00
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use std::num::{Float, abs};
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2014-06-01 21:21:45 +08:00
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use std::rand::random;
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2014-05-12 20:06:25 +08:00
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use std::cmp::{min, max};
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2014-10-13 02:21:06 +08:00
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use na::{Vec1, Vec3, Mat1, Mat2, Mat3, Mat4, Mat5, Mat6, Rot3, Persp3, PerspMat3, Ortho3, OrthoMat3,
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DMat, DVec, Indexable, Row, Col};
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2013-05-19 01:04:03 +08:00
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2013-05-22 07:15:03 +08:00
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macro_rules! test_inv_mat_impl(
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2013-06-09 22:04:54 +08:00
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($t: ty) => (
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2014-07-05 16:24:43 +08:00
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for _ in range(0u, 10000) {
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2013-05-22 07:15:03 +08:00
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let randmat : $t = random();
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2014-09-20 05:53:36 +08:00
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match na::inv(&randmat) {
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None => { },
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Some(i) => assert!(na::approx_eq(&(i * randmat), &na::one()))
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}
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2014-01-30 18:28:15 +08:00
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}
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2013-05-22 07:15:03 +08:00
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);
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)
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2013-05-19 01:04:03 +08:00
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2013-07-23 17:15:20 +08:00
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macro_rules! test_transpose_mat_impl(
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($t: ty) => (
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2014-07-05 16:24:43 +08:00
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for _ in range(0u, 10000) {
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2013-07-23 17:15:20 +08:00
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let randmat : $t = random();
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2013-10-14 16:22:32 +08:00
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assert!(na::transpose(&na::transpose(&randmat)) == randmat);
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2014-01-30 18:28:15 +08:00
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}
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2013-07-23 17:15:20 +08:00
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);
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)
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2014-08-16 18:16:26 +08:00
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macro_rules! test_qr_impl(
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2014-05-12 20:06:25 +08:00
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($t: ty) => (
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2014-07-05 16:24:43 +08:00
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for _ in range(0u, 10000) {
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2014-05-12 20:06:25 +08:00
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let randmat : $t = random();
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2014-08-16 18:16:26 +08:00
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let (q, r) = na::qr(&randmat);
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2014-05-12 20:06:25 +08:00
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let recomp = q * r;
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assert!(na::approx_eq(&randmat, &recomp));
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}
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);
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)
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2014-08-16 20:53:25 +08:00
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// NOTE: deactivated untile we get a better convergence rate.
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// macro_rules! test_eigen_qr_impl(
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// ($t: ty) => {
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// for _ in range(0u, 10000) {
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// let randmat : $t = random();
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// // Make it symetric so that we can recompose the matrix to test at the end.
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// let randmat = na::transpose(&randmat) * randmat;
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//
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// let (eigenvectors, eigenvalues) = na::eigen_qr(&randmat, &Float::epsilon(), 100);
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//
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// let diag: $t = Diag::from_diag(&eigenvalues);
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//
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// let recomp = eigenvectors * diag * na::transpose(&eigenvectors);
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//
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// println!("eigenvalues: {}", eigenvalues);
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// println!(" mat: {}", randmat);
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// println!("recomp: {}", recomp);
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//
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// assert!(na::approx_eq_eps(&randmat, &recomp, &1.0e-2));
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// }
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// }
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// )
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2014-08-16 18:16:26 +08:00
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2013-07-23 17:15:20 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_transpose_mat1() {
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2013-10-18 04:40:44 +08:00
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test_transpose_mat_impl!(Mat1<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-07-23 17:15:20 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_transpose_mat2() {
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2013-10-18 04:40:44 +08:00
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test_transpose_mat_impl!(Mat2<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-07-23 17:15:20 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_transpose_mat3() {
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2013-10-18 04:40:44 +08:00
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test_transpose_mat_impl!(Mat3<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-07-23 17:15:20 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_transpose_mat4() {
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2013-10-18 04:40:44 +08:00
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test_transpose_mat_impl!(Mat4<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-07-23 17:15:20 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_transpose_mat5() {
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2013-10-18 04:40:44 +08:00
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test_transpose_mat_impl!(Mat5<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-07-23 17:15:20 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_transpose_mat6() {
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2013-10-18 04:40:44 +08:00
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test_transpose_mat_impl!(Mat6<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-07-23 17:15:20 +08:00
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2013-05-19 01:04:03 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_inv_mat1() {
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2013-10-18 04:40:44 +08:00
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test_inv_mat_impl!(Mat1<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-05-19 01:04:03 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_inv_mat2() {
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2013-10-18 04:40:44 +08:00
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test_inv_mat_impl!(Mat2<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-05-19 01:04:03 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_inv_mat3() {
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2013-10-18 04:40:44 +08:00
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test_inv_mat_impl!(Mat3<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-05-19 01:04:03 +08:00
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2013-07-01 05:19:36 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_inv_mat4() {
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2013-10-18 04:40:44 +08:00
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test_inv_mat_impl!(Mat4<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-07-01 05:19:36 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_inv_mat5() {
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2013-10-18 04:40:44 +08:00
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test_inv_mat_impl!(Mat5<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-07-01 05:19:36 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_inv_mat6() {
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2013-10-18 04:40:44 +08:00
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test_inv_mat_impl!(Mat6<f64>);
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2013-08-05 16:13:44 +08:00
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}
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2013-05-19 01:04:03 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_rotation2() {
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2014-07-05 16:24:43 +08:00
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for _ in range(0u, 10000) {
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2013-10-08 07:22:56 +08:00
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let randmat: na::Rot2<f64> = na::one();
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2014-02-18 19:13:40 +08:00
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let ang = Vec1::new(abs::<f64>(random()) % Float::pi());
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2013-05-19 19:53:19 +08:00
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2014-01-10 03:48:30 +08:00
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assert!(na::approx_eq(&na::rotation(&na::append_rotation(&randmat, &ang)), &ang));
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2014-01-30 18:28:15 +08:00
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}
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2013-05-19 01:04:03 +08:00
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}
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2013-06-29 23:19:21 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_index_mat2() {
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2013-10-18 04:40:44 +08:00
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let mat: Mat2<f64> = random();
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2013-06-29 23:19:21 +08:00
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2013-10-14 16:22:32 +08:00
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assert!(mat.at((0, 1)) == na::transpose(&mat).at((1, 0)));
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2013-06-29 23:19:21 +08:00
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}
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2013-07-23 17:15:20 +08:00
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#[test]
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2013-08-05 16:13:44 +08:00
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fn test_inv_rotation3() {
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2014-07-05 16:24:43 +08:00
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for _ in range(0u, 10000) {
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2013-10-18 04:40:44 +08:00
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let randmat: Rot3<f64> = na::one();
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let dir: Vec3<f64> = random();
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2014-02-18 19:13:40 +08:00
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let ang = na::normalize(&dir) * (abs::<f64>(random()) % Float::pi());
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2013-10-14 16:22:32 +08:00
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let rot = na::append_rotation(&randmat, &ang);
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2013-09-22 20:22:17 +08:00
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2014-01-10 03:48:30 +08:00
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assert!(na::approx_eq(&(na::transpose(&rot) * rot), &na::one()));
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2014-01-30 18:28:15 +08:00
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}
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2013-09-22 20:22:17 +08:00
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}
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#[test]
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fn test_mean_dmat() {
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2013-10-18 04:40:44 +08:00
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let mat = DMat::from_row_vec(
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2013-09-22 20:22:17 +08:00
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3,
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3,
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[
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1.0f64, 2.0, 3.0,
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4.0f64, 5.0, 6.0,
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7.0f64, 8.0, 9.0,
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]
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);
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2014-08-16 18:16:26 +08:00
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assert!(na::approx_eq(&na::mean(&mat), &DVec::from_slice(3, [4.0f64, 5.0, 6.0])));
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2013-09-22 20:22:17 +08:00
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}
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#[test]
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fn test_cov_dmat() {
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2013-10-18 04:40:44 +08:00
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let mat = DMat::from_row_vec(
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2013-09-22 20:22:17 +08:00
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5,
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3,
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[
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2014-07-05 16:24:43 +08:00
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4.0f64, 2.0, 0.60,
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4.2f64, 2.1, 0.59,
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3.9f64, 2.0, 0.58,
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4.3f64, 2.1, 0.62,
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4.1f64, 2.2, 0.63
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2013-09-22 20:22:17 +08:00
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]
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);
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2013-10-18 04:40:44 +08:00
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let expected = DMat::from_row_vec(
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2013-09-22 20:22:17 +08:00
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3,
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3,
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[
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2014-07-05 16:24:43 +08:00
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0.025f64, 0.0075, 0.00175,
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0.0075f64, 0.007, 0.00135,
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0.00175f64, 0.00135, 0.00043
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2013-09-22 20:22:17 +08:00
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]
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);
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2014-01-10 03:48:30 +08:00
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assert!(na::approx_eq(&na::cov(&mat), &expected));
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2013-07-23 17:15:20 +08:00
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}
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2013-10-18 04:40:44 +08:00
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#[test]
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fn test_transpose_dmat() {
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let mat = DMat::from_row_vec(
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8,
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4,
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[
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2014-07-05 16:24:43 +08:00
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1u32,2, 3, 4,
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5, 6, 7, 8,
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9, 10, 11, 12,
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13, 14, 15, 16,
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17, 18, 19, 20,
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21, 22, 23, 24,
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25, 26, 27, 28,
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29, 30, 31, 32
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2013-10-18 04:40:44 +08:00
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]
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);
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assert!(na::transpose(&na::transpose(&mat)) == mat);
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}
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#[test]
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fn test_dmat_from_vec() {
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let mat1 = DMat::from_row_vec(
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8,
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4,
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[
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2014-07-05 16:24:43 +08:00
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1i32, 2, 3, 4,
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5, 6, 7, 8,
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9, 10, 11, 12,
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13, 14, 15, 16,
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17, 18, 19, 20,
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21, 22, 23, 24,
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25, 26, 27, 28,
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29, 30, 31, 32
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2013-10-18 04:40:44 +08:00
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]
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);
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let mat2 = DMat::from_col_vec(
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8,
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4,
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[
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2014-07-05 16:24:43 +08:00
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1i32, 5, 9, 13, 17, 21, 25, 29,
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2i32, 6, 10, 14, 18, 22, 26, 30,
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3i32, 7, 11, 15, 19, 23, 27, 31,
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4i32, 8, 12, 16, 20, 24, 28, 32
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2013-10-18 04:40:44 +08:00
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]
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);
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2014-10-19 02:52:35 +08:00
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println!("mat1: {}, mat2: {}", mat1, mat2);
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2013-10-18 04:40:44 +08:00
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assert!(mat1 == mat2);
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}
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2014-05-10 00:59:26 +08:00
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#[test]
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2014-08-16 18:16:26 +08:00
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fn test_qr() {
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2014-07-05 16:24:43 +08:00
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for _ in range(0u, 10) {
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2014-05-12 20:06:25 +08:00
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let dim1: uint = random();
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let dim2: uint = random();
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let rows = min(40, max(dim1, dim2));
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let cols = min(40, min(dim1, dim2));
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let randmat: DMat<f64> = DMat::new_random(rows, cols);
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2014-08-16 18:16:26 +08:00
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let (q, r) = na::qr(&randmat);
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2014-05-12 20:06:25 +08:00
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let recomp = q * r;
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assert!(na::approx_eq(&randmat, &recomp));
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}
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}
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#[test]
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2014-08-16 18:16:26 +08:00
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fn test_qr_mat1() {
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test_qr_impl!(Mat1<f64>);
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2014-05-12 20:06:25 +08:00
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}
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#[test]
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2014-08-16 18:16:26 +08:00
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fn test_qr_mat2() {
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test_qr_impl!(Mat2<f64>);
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2014-05-12 20:06:25 +08:00
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}
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2014-05-10 00:59:26 +08:00
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2014-05-12 20:06:25 +08:00
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#[test]
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2014-08-16 18:16:26 +08:00
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fn test_qr_mat3() {
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test_qr_impl!(Mat3<f64>);
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2014-05-12 20:06:25 +08:00
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}
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#[test]
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2014-08-16 18:16:26 +08:00
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fn test_qr_mat4() {
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|
|
test_qr_impl!(Mat4<f64>);
|
2014-05-12 20:06:25 +08:00
|
|
|
}
|
2014-05-10 00:59:26 +08:00
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|
|
|
2014-05-12 20:06:25 +08:00
|
|
|
#[test]
|
2014-08-16 18:16:26 +08:00
|
|
|
fn test_qr_mat5() {
|
|
|
|
test_qr_impl!(Mat5<f64>);
|
2014-05-12 20:06:25 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
#[test]
|
2014-08-16 18:16:26 +08:00
|
|
|
fn test_qr_mat6() {
|
|
|
|
test_qr_impl!(Mat6<f64>);
|
2014-05-10 00:59:26 +08:00
|
|
|
}
|
2014-07-27 08:03:37 +08:00
|
|
|
|
2014-10-13 02:21:06 +08:00
|
|
|
// NOTE: deactivated until we get a better convergence rate.
|
2014-08-16 18:16:26 +08:00
|
|
|
// #[test]
|
|
|
|
// fn test_eigen_qr_mat1() {
|
|
|
|
// test_eigen_qr_impl!(Mat1<f64>);
|
|
|
|
// }
|
|
|
|
//
|
|
|
|
// #[test]
|
|
|
|
// fn test_eigen_qr_mat2() {
|
|
|
|
// test_eigen_qr_impl!(Mat2<f64>);
|
|
|
|
// }
|
|
|
|
//
|
|
|
|
// #[test]
|
|
|
|
// fn test_eigen_qr_mat3() {
|
|
|
|
// test_eigen_qr_impl!(Mat3<f64>);
|
|
|
|
// }
|
|
|
|
//
|
|
|
|
// #[test]
|
|
|
|
// fn test_eigen_qr_mat4() {
|
|
|
|
// test_eigen_qr_impl!(Mat4<f64>);
|
|
|
|
// }
|
|
|
|
//
|
|
|
|
// #[test]
|
|
|
|
// fn test_eigen_qr_mat5() {
|
|
|
|
// test_eigen_qr_impl!(Mat5<f64>);
|
|
|
|
// }
|
|
|
|
//
|
|
|
|
// #[test]
|
|
|
|
// fn test_eigen_qr_mat6() {
|
|
|
|
// test_eigen_qr_impl!(Mat6<f64>);
|
|
|
|
// }
|
2014-07-27 08:03:37 +08:00
|
|
|
|
|
|
|
#[test]
|
|
|
|
fn test_from_fn() {
|
2014-08-16 18:16:26 +08:00
|
|
|
let actual: DMat<uint> = DMat::from_fn(3, 4, |i, j| 10 * i + j);
|
2014-07-27 08:03:37 +08:00
|
|
|
let expected: DMat<uint> = DMat::from_row_vec(3, 4,
|
|
|
|
[0_0, 0_1, 0_2, 0_3,
|
|
|
|
1_0, 1_1, 1_2, 1_3,
|
|
|
|
2_0, 2_1, 2_2, 2_3 ]);
|
|
|
|
|
|
|
|
assert_eq!(actual, expected);
|
|
|
|
}
|
2014-09-20 05:51:27 +08:00
|
|
|
|
|
|
|
#[test]
|
|
|
|
fn test_row_3() {
|
|
|
|
let mat = Mat3::new(0.0f32, 1.0, 2.0,
|
|
|
|
3.0, 4.0, 5.0,
|
|
|
|
6.0, 7.0, 8.0);
|
|
|
|
let second_row = mat.row(1);
|
|
|
|
let second_col = mat.col(1);
|
|
|
|
|
|
|
|
assert!(second_row == Vec3::new(3.0, 4.0, 5.0));
|
|
|
|
assert!(second_col == Vec3::new(1.0, 4.0, 7.0));
|
|
|
|
}
|
2014-10-13 02:21:06 +08:00
|
|
|
|
|
|
|
#[test]
|
|
|
|
fn test_persp() {
|
|
|
|
let mut p = Persp3::new(42.0f64, 0.5, 1.5, 10.0);
|
|
|
|
let mut pm = PerspMat3::new(42.0f64, 0.5, 1.5, 10.0);
|
|
|
|
assert!(p.to_mat() == pm.to_mat());
|
|
|
|
assert!(p.aspect() == 42.0);
|
|
|
|
assert!(p.fov() == 0.5);
|
|
|
|
assert!(p.znear() == 1.5);
|
|
|
|
assert!(p.zfar() == 10.0);
|
|
|
|
assert!(na::approx_eq(&pm.aspect(), &42.0));
|
|
|
|
assert!(na::approx_eq(&pm.fov(), &0.5));
|
|
|
|
assert!(na::approx_eq(&pm.znear(), &1.5));
|
|
|
|
assert!(na::approx_eq(&pm.zfar(), &10.0));
|
|
|
|
|
|
|
|
p.set_fov(0.1);
|
|
|
|
pm.set_fov(0.1);
|
|
|
|
assert!(na::approx_eq(&p.to_mat(), pm.as_mat()));
|
|
|
|
|
|
|
|
p.set_znear(24.0);
|
|
|
|
pm.set_znear(24.0);
|
|
|
|
assert!(na::approx_eq(&p.to_mat(), pm.as_mat()));
|
|
|
|
|
|
|
|
p.set_zfar(61.0);
|
|
|
|
pm.set_zfar(61.0);
|
|
|
|
assert!(na::approx_eq(&p.to_mat(), pm.as_mat()));
|
|
|
|
|
|
|
|
p.set_aspect(23.0);
|
|
|
|
pm.set_aspect(23.0);
|
|
|
|
assert!(na::approx_eq(&p.to_mat(), pm.as_mat()));
|
|
|
|
|
|
|
|
assert!(p.aspect() == 23.0);
|
|
|
|
assert!(p.fov() == 0.1);
|
|
|
|
assert!(p.znear() == 24.0);
|
|
|
|
assert!(p.zfar() == 61.0);
|
|
|
|
assert!(na::approx_eq(&pm.aspect(), &23.0));
|
|
|
|
assert!(na::approx_eq(&pm.fov(), &0.1));
|
|
|
|
assert!(na::approx_eq(&pm.znear(), &24.0));
|
|
|
|
assert!(na::approx_eq(&pm.zfar(), &61.0));
|
|
|
|
}
|
|
|
|
|
|
|
|
#[test]
|
|
|
|
fn test_ortho() {
|
|
|
|
let mut p = Ortho3::new(42.0f64, 0.5, 1.5, 10.0);
|
|
|
|
let mut pm = OrthoMat3::new(42.0f64, 0.5, 1.5, 10.0);
|
|
|
|
assert!(p.to_mat() == pm.to_mat());
|
|
|
|
assert!(p.width() == 42.0);
|
|
|
|
assert!(p.height() == 0.5);
|
|
|
|
assert!(p.znear() == 1.5);
|
|
|
|
assert!(p.zfar() == 10.0);
|
|
|
|
assert!(na::approx_eq(&pm.width(), &42.0));
|
|
|
|
assert!(na::approx_eq(&pm.height(), &0.5));
|
|
|
|
assert!(na::approx_eq(&pm.znear(), &1.5));
|
|
|
|
assert!(na::approx_eq(&pm.zfar(), &10.0));
|
|
|
|
|
|
|
|
p.set_width(0.1);
|
|
|
|
pm.set_width(0.1);
|
|
|
|
assert!(na::approx_eq(&p.to_mat(), pm.as_mat()));
|
|
|
|
|
|
|
|
p.set_znear(24.0);
|
|
|
|
pm.set_znear(24.0);
|
|
|
|
assert!(na::approx_eq(&p.to_mat(), pm.as_mat()));
|
|
|
|
|
|
|
|
p.set_zfar(61.0);
|
|
|
|
pm.set_zfar(61.0);
|
|
|
|
assert!(na::approx_eq(&p.to_mat(), pm.as_mat()));
|
|
|
|
|
|
|
|
p.set_height(23.0);
|
|
|
|
pm.set_height(23.0);
|
|
|
|
assert!(na::approx_eq(&p.to_mat(), pm.as_mat()));
|
|
|
|
|
|
|
|
assert!(p.height() == 23.0);
|
|
|
|
assert!(p.width() == 0.1);
|
|
|
|
assert!(p.znear() == 24.0);
|
|
|
|
assert!(p.zfar() == 61.0);
|
|
|
|
assert!(na::approx_eq(&pm.height(), &23.0));
|
|
|
|
assert!(na::approx_eq(&pm.width(), &0.1));
|
|
|
|
assert!(na::approx_eq(&pm.znear(), &24.0));
|
|
|
|
assert!(na::approx_eq(&pm.zfar(), &61.0));
|
|
|
|
}
|